JP2020149323A - Information processor and automated travel control system therewith - Google Patents

Abstract

To provide a technology capable of reducing the influence on safe driving control and automated driving control of a vehicle in the event of a failure of an out-of-vehicle surveillance camera mounted on an automated driving vehicle.SOLUTION: An information processor 10 includes: a receiver 101 that receives a signal transmitted from wireless communication means provided in an automated driving vehicle; a failure determination unit 102 that determines, based on the signal from the wireless communication means, a failed vehicle with a failed out-of-vehicle surveillance camera mounted on; a detection unit 103 that detects a specific vehicle planned to travel on a route at least part of a section of which is the same as a planned travel route from a point where the failed vehicle is determined to be with a failed out-of-vehicle surveillance camera mounted on; and a transmitter 104 that transmits travel control information to the failed vehicle so that it travels in front of or behind the specific vehicle.SELECTED DRAWING: Figure 5

Description

The present invention relates to an information processing device and an automatic traveling control system including the information processing device.

In recent years, there are known self-driving vehicles that allow humans to drive autonomously without performing some driving operations. The autonomous driving vehicle is equipped with, for example, an outside surveillance camera (hereinafter, also simply referred to as a camera) for photographing the surroundings of the vehicle. In this self-driving vehicle, a technique for safely traveling is required even if a communication failure or the like occurs due to a failure of some devices or the like.

Patent Document 1 discloses an automatic operation control system that determines whether automatic operation is possible based on the remaining acquired position estimation information when a part of the position estimation information cannot be acquired.

JP-A-2016-192028

Patent Document 1 does not disclose a technique for continuing automatic driving when a camera mounted on the automatic driving vehicle breaks down during automatic driving. If the out-of-vehicle surveillance camera mounted on the autonomous driving vehicle breaks down during autonomous driving, it may affect the safe driving control and the autonomous driving control of the vehicle.

Therefore, an object of the present invention is to provide a technique capable of suppressing the influence on the safe driving control and the automatic driving control of the vehicle when the out-of-vehicle surveillance camera mounted on the autonomous driving vehicle breaks down. To do.

The information processing device according to one aspect of the present invention is an information processing device that transmits control information necessary for automatic driving to an automatically driven vehicle equipped with an external surveillance camera, and is from a wireless communication means included in the automatically driven vehicle. A receiver that receives the transmitted signal, a failure determination unit that determines a failed vehicle in which the outside surveillance camera has failed based on a signal from the wireless communication means, and a failure in the failed vehicle that is determined to be a failure of the outside surveillance camera. A detection unit that detects a specific vehicle that is scheduled to travel on the same route as the planned travel route from the point, and transmits travel control information to the failed vehicle so that the vehicle travels in front of or behind the specific vehicle. It is provided with a transmitter to be used.

According to this aspect, when the out-of-vehicle surveillance camera mounted on the autonomous driving vehicle breaks down, the front or rear of the specific vehicle scheduled to travel on the same route as at least a part of the planned travel route from the failure point. It is possible to control the running of a vehicle in which the out-of-vehicle surveillance camera has failed so as to run. As a result, even if the out-of-vehicle surveillance camera breaks down, the automatic driving of the failed vehicle can be continued, so that it is possible to suppress a significant influence on the safe driving control and the automatic driving control of the vehicle. ..

According to the present invention, it is possible to provide a technique capable of suppressing the influence on the safe driving control and the automatic driving control of the vehicle when the out-of-vehicle surveillance camera mounted on the autonomous driving vehicle breaks down.

Schematic diagram of an information processing device and multiple vehicles that can communicate with it Block diagram showing a schematic hardware configuration of an information processing device Block diagram showing a schematic hardware configuration of a vehicle The figure which shows an example of the functional block composition of an information processing apparatus Flow chart showing an example of the processing procedure performed by the information processing device The figure for demonstrating the operation example when a camera breaks down

Preferred embodiments of the present invention will be described with reference to the accompanying drawings. In each figure, those having the same reference numerals have the same or similar configurations.

FIG. 1 shows an automatic driving control system 1 including an information processing device 10 connected to a plurality of vehicles 100 via a network N. When referring to a specific vehicle 100, it is referred to as a vehicle 100A, a vehicle 100B, etc., and when it is generically referred to, it is simply referred to as a vehicle 100.

The communication network N shown in FIG. 1 may be, for example, the Internet, a LAN, a mobile communication network, Bluetooth (registered trademark), WiFi (Wireless Fidelity), other communication lines, or a combination thereof. At least a part of the information processing device 10 may be realized by cloud computing composed of one or more computers. In addition, at least a part of the processing in the control device 110 (described later) of the vehicle 100 may be executed by the information processing device 10.

FIG. 2 is a diagram showing an example of the hardware configuration of the information processing apparatus 10 shown in FIG. The information processing device 10 includes a processor 12, a memory 14, a storage 16, an input / output interface (input / output I / F) 18, and a communication interface (communication I / F) 19. Each component of the HW (Hard Ware) of the information processing apparatus 10 is connected to each other via, for example, a bus B.

The information processing device 10 realizes the functions and / or methods described in the present embodiment by the cooperation of the processor 12, the memory 14, the storage 16, the input / output I / F18, and the communication I / F19. To do.

The processor 12 executes a function and / or a method realized by a code or an instruction contained in a program stored in the storage 16. The processor 12 includes, for example, a central processing unit (CPU), an MPU (Micro Processing Unit), a GPU, a microprocessor (microprocessor), a processor core (processor core), a multiprocessor (multiprocessor), an ASIC (Application-Specific Integrated Circuit), and the like. Includes FPGA (Field Programmable Gate Array) and the like.

The memory 14 temporarily stores the program loaded from the storage 16 and provides a work area to the processor 12. Various data generated while the processor 12 is executing the program are also temporarily stored in the memory 14. The memory 14 includes, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.

The storage 16 stores a program or the like executed by the processor 12. The storage 16 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), a flash memory, and the like.

The input / output I / F 18 includes an input device for inputting various operations to the information processing device 10 and an output device for outputting the processing result processed by the information processing device 10.

The communication I / F 19 transmits and receives various data via the network. The communication may be executed by wire or wirelessly, and any communication protocol may be used as long as mutual communication can be executed. The communication I / F 19 has a function of executing communication with the vehicle 100 via the network. The communication I / F 19 transmits various data to another information processing device or the vehicle 100 according to an instruction from the processor 12.

The program of the present embodiment may be provided in a state of being stored in a storage medium readable by a computer. The storage medium can store the program in a "non-temporary tangible medium". Programs include, for example, software programs and computer programs.

At least a part of the processing in the information processing apparatus 10 may be realized by cloud computing composed of one or more computers. At least a part of the processing in the information processing apparatus 10 may be performed by another information processing apparatus. In this case, at least a part of the processing of each functional unit realized by the processor 12 may be performed by another information processing device.

FIG. 3 is a block diagram showing a schematic hardware configuration of the vehicle 100.

As shown in FIG. 3, the vehicle 100 includes a control device 110, a communication device 120 connected to the control device 110 by a bus or the like, a sensor device 130, a radar device 140, a camera device 150, and a navigation device 160. The drive device 170 and the input / output device 180 are shown.

The control device 110 receives a predetermined signal from each device connected to the control device 110, performs arithmetic processing, and outputs a control signal for driving each device. The control device 110 includes a processor 110A and a memory 110B. The control device 110 can function as the driving support system according to the present embodiment by the processor 110A executing the computer program recorded in the memory 110B.

The processor 110A executes a predetermined arithmetic process according to a computer program such as firmware stored in the memory 110B. The processor 110A includes one or more central processing units (CPUs), MPUs (Micro Processing Units), GPUs, microprocessors (microprocessors), processor cores, multiprocessors, and ASICs (Application-Specific Integrated Circuits). ), FPGA (Field Programmable Gate Array), etc.

The memory 110B includes a non-volatile memory such as an MRAM, a NAND flash memory, a NOR flash memory or an SSD, and a hard disk drive, and a volatile memory such as an SRAM or a DRAM. The non-volatile memory stores computer programs and map data for executing various arithmetic processes shown in the flowcharts and other aspects of the present disclosure, and various other data required in the present disclosure. Non-volatile memory corresponds to a non-temporary tangible medium. The volatile memory provides a work area for temporarily storing a computer program loaded from the non-volatile memory and various data generated while the processor 110A is executing the computer program. The non-volatile memory may store computer programs and data acquired from the communication device 120.

The communication device 120 includes means for transmitting and receiving information to and from an external device such as an information processing device 10, and for example, one or a plurality of communications such as WiFi (a wireless communication method based on the 802.11 standard established by the IEEE). It has the means. The external device may be another vehicle 100, or may be an infrastructure facility installed under a road surface, a utility pole, a building, or the like. Further, the communication device 120 receives the GPS signal and outputs the position information of the vehicle 100 to the control device 110.

The sensor device 130 is a sensor for detecting the behavior of the vehicle 100, and includes a rotary encoder for detecting the vehicle speed of the vehicle and a gyro sensor for detecting the inclination of the vehicle. Further, a magnetic sensor or the like for detecting a marker or the like embedded in the road may be provided. The radar device 140 includes a LiDAR ranging system including a millimeter-wave radar for avoiding a collision with a pedestrian or the like. The camera device 150 includes a plurality of cameras including image pickup elements such as a CCD and a CMOS image sensor for capturing images of the front, left, right, and rear of the vehicle 100 (images including the periphery of the vehicle 100). The control device 110 can receive the signals acquired by the sensor device 130, the radar device 140, and the camera device 150, and output a control signal based on them to the device. For example, control for acquiring an image pickup signal captured by the camera device 150, executing image recognition, recognizing an obstacle or the like contained in the captured image, and, for example, causing the drive device 170 to stop the vehicle 100 accordingly. A signal can be output. However, a semiconductor IC for image processing such as a GPU that enables image recognition is mounted in the camera device 150, and lanes and pedestrians on which the vehicle 100 should travel based on the image captured by the camera or the like of the camera device 150. It may be configured to recognize an obstacle such as the above and output it to the control device 110.

The navigation device 160 calculates and guides a route to a predetermined destination based on an input from a driver or the like. The navigation device 160 includes a non-volatile memory (not shown), and map data may be stored in the non-volatile memory, map data stored in the memory 110B may be acquired, or the map data may be acquired from the communication device 120. Map data may be acquired. The map data includes information on road types, road signs, traffic lights, and the like. In addition, the map data includes location information of specific points called nodes such as facilities, addresses, and road intersections, and information corresponding to roads connecting the nodes called links. Location information is indicated by, for example, latitude, longitude, and altitude.

Further, the processor for calculating the route may be mounted on the navigation device 160, or may be executed by the processor 110A. Further, the current position information of the vehicle 100 may be configured to acquire the position information obtained from the control device 110 based on the GPS signal received by the communication device 120, or the navigation device 160 itself receives the GPS signal. You may. The navigation device 160 may be composed of an information processing terminal owned by a driver or the like. In this case, the information processing terminal and the vehicle 100 may be connected to the device or the like of the communication device 120, and the route guidance information or the like for guiding the route may be output from the input / output device 180 of the vehicle 100.

The drive device 170 includes an engine, a brake, a motor and other actuators for operating the steering wheel of the vehicle 100, and operates based on a control signal received from the control device 110. The vehicle 100 may be configured such that the control device outputs a control signal to the drive device 170 or the like based on the operation of the accelerator pedal, the brake pedal, the handle, or the like by the driver or the like, but the radar device 140 or the camera It may be provided with an automatic operation function that outputs a control signal for autonomous operation of the control device 110 to the drive device 170 or the like based on a signal acquired from the device 150 or the like. Further, the vehicle 100 may be an electric vehicle including a battery and an electric motor.

The input / output device 180 includes an input device such as a touch panel and a microphone for the driver and the like to input information to the vehicle 100 and voice recognition processing software, and the vehicle is based on a pressing operation of the touch panel of the driver or a voice of the driver. It is configured so that information necessary for controlling 100 can be input. It also includes a liquid crystal display for outputting image information, a HUD or other display, and an output device such as one or more speakers for outputting audio information.

FIG. 4 is a diagram showing an example of a functional block configuration of the information processing device 10. The information processing device 10 includes a receiving unit 101, a failure determination unit 102, a detecting unit 103, a transmitting unit 104, and a storage unit 105.

The receiving unit 101 receives the signal transmitted from the wireless communication means included in the autonomous driving vehicle. The receiving unit 101 includes, for example, image information of the camera device 150 that images the front and rear of the vehicle 100 including the periphery of the vehicle 100, position information of the vehicle 100 transmitted via the communication device 120, vehicle speed, and traveling direction ( Orientation) information and planned travel route information of the vehicle 100 are received. The information received by the receiving unit 101 is stored in the image information DB 105a of the storage unit 105 or the planned travel route information DB 105b.

The failure determination unit 102 determines a failed vehicle in which the camera device 150 (outside surveillance camera) has failed, based on a signal from the wireless communication means of the vehicle 100. The faulty vehicle determined by the fault determination unit 102 is stored in the faulty vehicle DB 105c of the storage unit 105. When the failure determination unit 102 does not receive at least one of the image information (image information in front, left, right, and rear of the vehicle 100) captured by the camera device 150 by the receiving unit 101, the failure determination unit 102 determines that the camera device 150 has failed. judge. In other words, when an abnormality occurs in the image information of the camera device 150 received by the information processing device 10, the failure determination unit 102 determines that the camera device 150 has a failure. As described above, the vehicle 100 determined by the failure determination unit 102 as to the failure of at least one camera device 150 is referred to as a failed vehicle in the present specification.

The detection unit 103 determines a vehicle 100 (hereinafter referred to as a specific vehicle) scheduled to travel on a route in which at least a part of the sections are the same as the planned travel route from the failure point of the failed vehicle determined to be the failure of the camera device 150. Detect. The specific vehicle detected by the detection unit 103 is stored in the specific vehicle DB 105d of the storage unit 105.

The transmission unit 104 transmits travel control information to the failed vehicle so as to be in front of or behind the specific vehicle. The details of the running control of the failed vehicle will be described later.

The storage unit 105 includes the same destination vehicle DB 105e in addition to the above-mentioned image information DB 105a, planned travel route information 105b, broken vehicle DB 105c, and specific vehicle DB 105d. The same destination vehicle DB 105e stores information on vehicles heading for the same destination as the final destination of the failed vehicle.

<Processing procedure>
Subsequently, the processing procedure performed by the information processing apparatus 10 will be described. FIG. 5 is a flowchart showing an example of a processing procedure performed by the information processing apparatus.

In step S101, the image information of the vehicle 100 and the like are transmitted to the information processing device 10. The image information and the like include, for example, the position information of the vehicle 100 transmitted via the communication device 120, in addition to the image information of the camera device 150 that images the periphery of the vehicle 100 (front, rear, left and right of the vehicle 100). Includes time information, vehicle speed and direction of travel (azimuth) information. The "image information, etc." in the present specification is not limited to these information, and includes information necessary for the traveling control information described below. As described above, the signal from the wireless communication means (communication device 120) of the vehicle 100 includes the image information of the vehicle exterior surveillance camera (camera device 150) that images the periphery of the traveling vehicle 100.

In step S102, the information processing device 10 (center) receives the image information and the like transmitted from the traveling vehicle 100.

In step S103, the information processing device 10 stores information including a planned travel route in the storage unit 105 for each vehicle 100 based on the received image information and the like.

In step S104, the failure determination unit 102 determines whether or not the camera device 150 mounted on the vehicle 100 has failed based on the signal from the communication device 120 of the vehicle 100. The failure determination unit 102 determines that the camera device 150 has a failure when at least one of the front, left, right, and rear image information of the vehicle 100 captured by the camera device 150 is not received by the reception unit 101. When the failure determination unit 102 determines that the camera device 150 has not failed (step S104 (NO)), the process returns to step S102 and the above steps are repeated, and it is determined that the camera device 150 has failed. If so (step S104 (YES)), the process proceeds to step S105.

In step S105, the detection unit 103 detects a specific vehicle that is scheduled to travel on the same route as the planned travel route from the failure point of the failed vehicle determined to be the failure of at least one camera device 150. To do. For example, the detection unit 103 has many sections in which the planned travel route of the failed vehicle and the planned travel route overlap most among the 100 vehicles (hereinafter, also referred to as peripheral vehicles) located in the vicinity when the failed vehicle occurs. 100 may be detected and the vehicle 100 may be designated as a specific vehicle. In step S105, the process of step S105 is repeated until the detection unit 103 detects the specific vehicle, and when the specific vehicle is detected, the process proceeds to step S106. If the specific vehicle is not detected in step S105, for example, the malfunctioning vehicle is temporarily stopped at a safe place around the faulty point, and the traveling control information is provided to the faulty vehicle so as to wait until the specific vehicle arrives. You may send it.

In step S106, the transmission unit 104 of the information processing device 10 transmits the travel control information described below to the failed vehicle determined by the failure determination unit 102. As will be described later, the travel control information transmitted by the transmission unit 104 to the failed vehicle includes information generated based on the image information captured by the vehicle exterior surveillance camera of the vehicle traveling in front of or behind the failed vehicle.

In step S107, the faulty vehicle receives the travel control information transmitted from the transmission unit 104. Based on the travel control information, the failed vehicle shifts to convoy travel (step S108).

The convoy running shown in step S108 will be described with reference to the example shown in FIG. FIG. 6A shows a state before shifting to convoy running, and FIG. 6B shows a state after shifting to convoy running. In FIG. 6, the imaging range of the camera device (outside surveillance camera) mounted on each vehicle is RA1 (imaging range in front of the vehicle), RA2 (imaging range on the left and right of the vehicle), RA3 (imaging range behind the vehicle). It is shown by. Further, in FIG. 6, the failed vehicle is indicated by reference numerals 100Fa and 100Fb, the specific vehicle is indicated by reference numerals 100Sa and 100Sb, and the vehicle traveling around the failed vehicle is indicated by reference numerals 100B, 100C, 100D, 100J, 100K and 100L. ..

In the upper lane of FIG. 6A (the lane in which the left direction in FIG. 6 is the traveling direction), the vehicle in which the camera device for imaging the front side of the vehicle has failed is shown as the failed vehicle 100Fa. When a specific vehicle 100Sa scheduled to travel on the same route as the planned travel route from the failure point of the defective vehicle 100F is detected, the vehicle fails so as to travel behind the specific vehicle 100Sa. Travel control information is transmitted to the vehicle 100F (in other words, the faulty vehicle 100F is moved in the direction indicated by the arrow Ra in FIG. 6A, and the travel is controlled so as to reduce the inter-vehicle distance between the faulty vehicle 100F and the specific vehicle 100Sa. ). When the traveling control of the faulty vehicle 100F is performed in this way, as shown in FIG. 6B, the faulty vehicle 100F continues to automatically drive in a state of traveling behind the specific vehicle 100Sa. The image information captured on the front side by the camera device of the specific vehicle 100Sa traveling in the convoy is transmitted to the failed vehicle 100F via inter-vehicle communication (communication between the specific vehicle 100Sa and the failed vehicle 100F) or the information processing device 10. The automatic operation of the failed vehicle 100F may be continued by transmitting and thereby complementing the function of the failed camera device. As described above, when the failure determination unit 102 determines that the out-of-vehicle surveillance camera that images the front of the failed vehicle among the out-of-vehicle surveillance cameras mounted on the failed vehicle is out of order, the transmission unit 104 determines. Travel control information is transmitted to the malfunctioning vehicle so that the vehicle travels behind the specific vehicle.

Further, in the lower lane of FIG. 6A (the lane in which the right direction in FIG. 6 is the traveling direction), the vehicle in which the camera device for imaging the rear side of the vehicle has failed is shown as the failed vehicle 100Fb. When a specific vehicle 100Sb scheduled to travel on the same route as the planned travel route from the failure point of the defective vehicle 100Fb is detected, the defective vehicle 100Fb travels in front of the specific vehicle 100Sb. As described above, the traveling control information is transmitted to the specific vehicle 100Sb or the defective vehicle 100Fb (for example, the specific vehicle 100Sb is moved in the direction indicated by the arrow Rb in FIG. Travel control is performed so as to reduce the inter-vehicle distance. In this example, the travel control of the specific vehicle 100Sb is performed, but the traveling control of the failed vehicle 100Fb may be performed to reduce the inter-vehicle distance). When the traveling control of the specific vehicle 100Sb or the defective vehicle 100Fb is performed in this way, as shown in FIG. 6B, the defective vehicle 100Fb continues to be automatically driven while traveling in front of the specific vehicle 100Sb. It should be noted that the image information captured on the rear side by the camera device of the specific vehicle 100Sb traveling in the convoy is transmitted to the failed vehicle 100Fb via vehicle-to-vehicle communication (communication between the specific vehicle 100Sb and the failed vehicle 100Fb) or the information processing device 10. The automatic operation of the failed vehicle 100Fb may be continued by transmitting and thereby complementing the function of the failed camera device. As described above, when the failure determination unit 102 determines that the outside monitoring camera that images the rear of the failed vehicle among the outside monitoring cameras mounted on the failed vehicle is out of order, the transmission unit 104 determines. Travel control information is transmitted to the malfunctioning vehicle so that the vehicle travels in front of the specific vehicle.

In step S108 described above, it is detected that the planned travel route of the specified vehicles 100Sa and 100Sb traveling deviates from the planned travel route of the failed vehicles 100Fa and 100Fb traveling in front of or behind the specific vehicle 100Sa and 100Sb. When detected by the unit 103, the detection unit 103 may detect the vehicle 100 (same destination vehicle) scheduled to travel to the same destination as the final destinations of the failed vehicles 100F and 100Fb. When the detection unit 103 detects the same destination vehicle, the transmission unit 104 may transmit the travel control information to the failed vehicles 100Fa and 100Fb so as to travel in front of or behind the same destination vehicle.

Further, in step S108 described above, the detection unit detects that the planned travel route of the specified vehicles 100Sa and 100Sb traveling deviates from the planned travel route of the failed vehicles 100F and 100Fb traveling in front of or behind the specific vehicles 100Sa and 100Sb. When detected by 103, the transmission unit 104 suspends the failed vehicles 100Fa and 100Fb in a specific area around the detected location, and causes the vehicle 100 traveling on the same route as the planned travel route of the failed vehicles 100Fa and 100Fb. Travel control information may be transmitted to wait.

In the embodiment described above, an example in which the specific vehicle is an autonomous driving vehicle has been described, but the specific vehicle is not limited to this example, and the specific vehicle does not have to be an autonomous driving vehicle.

Further, the travel control information transmitted by the transmission unit 104 to the failed vehicle is not only the image information captured by the outside monitoring camera of the specific vehicle (guide vehicle) traveling in front or behind, but also the vehicle traveling around the failed vehicle. Image information captured by an external surveillance camera of (peripheral vehicle) may be included. That is, based on these image information, the automatic driving information to be provided to the failed vehicle may be generated. Further, in the above-described embodiment, the example in which the transmission unit 104 transmits the traveling control information to the failed vehicle has been described, but the transmission unit 104 provides information to the specific vehicle (for example, the position information, time information, vehicle speed, and vehicle speed of the failed vehicle. The specific vehicle that receives the information on the direction of travel and other information including image information, position information, time information, vehicle speed, and direction information of surrounding vehicles is moved to the front or rear of the failed vehicle. Travel control may be performed so as to perform (convoy travel).

The embodiments described above are for facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. In the embodiment described above, an automatic driving control system including an information processing device and an automatic driving vehicle that receives driving control information provided by the information processing device and shifts to an automatic driving mode based on the driving control information. Although an example has been described, for example, each function of the information processing device may be mounted on the autonomous driving vehicle, or at least a part of the processes of each functional unit of the information processing device described above may be performed on the autonomous driving vehicle. It may be mounted on. The flowchart, sequence, each element included in the embodiment, its arrangement, material, condition, shape, size, and the like described in the embodiment are not limited to those exemplified, and can be appropriately changed. In addition, the configurations shown in different embodiments can be partially replaced or combined.

1 ... Automatic driving control system, 10 ... Information processing device, 100 ... Vehicle, 101 ... Receiver unit, 102 ... Failure determination unit, 103 ... Detection unit, 104 ... Transmission unit, 105 ... Storage unit, 120 ... Communication device

Claims (10)

It is an information processing device that transmits control information necessary for autonomous driving to an autonomous driving vehicle equipped with an outside surveillance camera.
A receiving unit that receives a signal transmitted from the wireless communication means included in the autonomous driving vehicle, and
Based on the signal from the wireless communication means, the failure determination unit that determines the failed vehicle in which the outside surveillance camera has failed, and
A detection unit that detects a specific vehicle that is scheduled to travel on the same route as the planned travel route from the failure point of the failed vehicle that is determined to be a failure of the external surveillance camera.
A transmission unit that transmits travel control information to the failed vehicle so as to travel in front of or behind the specific vehicle.
Information processing device equipped with. The signal from the wireless communication means includes image information of the outside surveillance camera that images the periphery of the autonomous driving vehicle in motion.
The information processing device according to claim 1. The outside surveillance camera captures the front, left, right, and rear of the traveling self-driving vehicle, respectively.
The information processing device according to claim 1 or 2. The travel control information transmitted by the transmission unit to the faulty vehicle is information generated based on the image information captured by the outside surveillance camera of the vehicle traveling in front of or behind the faulty vehicle.
The information processing device according to any one of claims 1 to 3. When the failure determination unit does not receive at least one of the front, left, right, and rear image information of the autonomous driving vehicle captured by the outside monitoring camera by the reception unit, the failure determination unit fails the outside monitoring camera. Judge,
The information processing device according to any one of claims 1 to 4. When the failure determination unit determines that the outside monitoring camera that images the front of the failed vehicle among the outside monitoring cameras mounted on the failed vehicle is out of order, the transmission unit uses the transmitter. The driving control information is transmitted to the failed vehicle so as to drive behind the specific vehicle.
The information processing device according to any one of claims 1 to 5. When the failure determination unit determines that the outside monitoring camera that images the rear of the failed vehicle among the outside monitoring cameras mounted on the failed vehicle is out of order, the transmission unit uses the transmitter. The driving control information is transmitted to the failed vehicle so as to drive in front of the specific vehicle.
The information processing device according to any one of claims 1 to 5. The detection unit has the same destination as the destination of the failed vehicle when the traveling route of the specified vehicle deviating from the planned traveling route of the failed vehicle traveling in front of or behind the specific vehicle. Detects the same destination vehicle scheduled to travel to
The transmission unit transmits travel control information to the failed vehicle so as to travel in front of or behind the same destination vehicle.
The information processing device according to any one of claims 1 to 7. When the detection unit detects that the traveling route of the specified vehicle that is traveling deviates from the planned traveling route of the failed vehicle traveling in front of or behind the specific vehicle, the transmitting unit detects the detection. The traveling control information is transmitted so as to suspend the failed vehicle in a specific area around the designated place and wait for a vehicle traveling on the same route as the planned traveling route of the failed vehicle.
The information processing device according to any one of claims 1 to 7. The information processing apparatus according to any one of claims 1 to 9,
An autonomous driving vehicle that receives the traveling control information provided from the information processing device and shifts to the automatic driving mode based on the traveling control information.
Automatic driving control system equipped with.